//
// Created by yu on 24-4-24.
//

#pragma once

#include <eigen3/Eigen/Dense>
#include <vector>

class LQR
{
private:
    double leftAngle,rightAngle;
    double leftLength, rightLength;
    std::vector<double> currentKMatrix;
public:
    double MotorAngleCalculate();

    double LegLengthCalculate();

    std::vector<double> KMatrixCalculate(double legLength);

    void LQRBalanceControl();
} inline LQR;